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<h1><a href="remoteApiOverview.htm">Remote API</a> functions (Java)</h1>

<h3 class=subsectionBar><a name="simxAddStatusbarMessage" id="simxAddStatusbarMessage"></a>simxAddStatusbarMessage (regular API equivalent: <a href="regularApi/simAddLog.htm">sim.addLog</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Adds a message to the status bar.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAddStatusbarMessage(int clientID,final String message,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>message</strong>: the message to display</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAddStatusbarMessage">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAddStatusbarMessage">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAddStatusbarMessage">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAddStatusbarMessage">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxAddStatusbarMessage">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxAppendStringSignal" id="simxAppendStringSignal"></a>simxAppendStringSignal</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Refer to <a href="#simxWriteStringStream">simxWriteStringStream</a> instead.<br><br>Appends a string to a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxSetStringSignal">simxSetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAppendStringSignal(int clientID,final String signalName, final String signalValueToAppend,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValueToAppend</strong>: value to append to the  signal. That value may contain any value, including embedded zeros.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAppendStringSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAppendStringSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAppendStringSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAppendStringSignal">Octave</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxAuxiliaryConsoleClose" id="simxAuxiliaryConsoleClose"></a>simxAuxiliaryConsoleClose (regular API equivalent: <a href="regularApi/simAuxiliaryConsoleClose.htm">sim.auxiliaryConsoleClose</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Closes an auxiliary console window. See also <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAuxiliaryConsoleClose(int clientID,int consoleHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>consoleHandle</strong>: the handle of the console window, previously returned by the <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a> command</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAuxiliaryConsoleClose">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAuxiliaryConsoleClose">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAuxiliaryConsoleClose">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAuxiliaryConsoleClose">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxAuxiliaryConsoleClose">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxAuxiliaryConsoleOpen" id="simxAuxiliaryConsoleOpen"></a>simxAuxiliaryConsoleOpen (regular API equivalent: <a href="regularApi/simAuxiliaryConsoleOpen.htm">sim.auxiliaryConsoleOpen</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Opens an auxiliary console window for text display. This console window is different from the application main console window. Console window handles are shared across all simulator scenes. See also <a href="#simxAuxiliaryConsolePrint">simxAuxiliaryConsolePrint</a>, <a href="#simxAuxiliaryConsoleShow">simxAuxiliaryConsoleShow</a> and <a href="#simxAuxiliaryConsoleClose">simxAuxiliaryConsoleClose</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAuxiliaryConsoleOpen(int clientID,final String title,int maxLines,int mode,<a href="#IntWA">IntWA</a> position,<a href="#IntWA">IntWA</a> size,<a href="#FloatWA">FloatWA</a> textColor,<a href="#FloatWA">FloatWA</a> backgroundColor,<a href="#IntW">IntW</a> consoleHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>title</strong>: the title of the console window</div>
<div><strong>maxLines</strong>: the number of text lines that can be displayed and buffered</div>
<div><strong>mode</strong>: bit-coded value. Bit0 set indicates that the console window will   automatically close at simulation end, bit1 set   indicates that lines will be wrapped, bit2 set indicates that the user   can close the console window, bit3 set indicates that the console will   automatically be hidden during simulation pause, bit4 set indicates that   the console will not automatically hide when the user switches to   another scene.</div>
<div><strong>position</strong>: the initial position of the console window (x and y value). Can be null</div>
<div><strong>size</strong>: the initial size of the console window (x and y value). Can be null</div>
<div><strong>textColor</strong>: the color of the text (rgb values, 0-1). Can be null</div>
<div><strong>backgroundColor</strong>: the background color of the console window (rgb values, 0-1). Can be null</div>
<div><strong>consoleHandle</strong>: the handle of the created console (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAuxiliaryConsoleOpen">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAuxiliaryConsoleOpen">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAuxiliaryConsoleOpen">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAuxiliaryConsoleOpen">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxAuxiliaryConsoleOpen">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxAuxiliaryConsolePrint" id="simxAuxiliaryConsolePrint"></a>simxAuxiliaryConsolePrint (regular API equivalent: <a href="regularApi/simAuxiliaryConsolePrint.htm">sim.auxiliaryConsolePrint</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Prints to an auxiliary console window. See also <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAuxiliaryConsolePrint(int clientID,int consoleHandle, final String txt,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>consoleHandle</strong>: the handle of the console window, previously returned by the <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a> command</div>
<div><strong>txt</strong>: the text to append, or null to clear the console window</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAuxiliaryConsolePrint">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAuxiliaryConsolePrint">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAuxiliaryConsolePrint">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAuxiliaryConsolePrint">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxAuxiliaryConsolePrint">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxAuxiliaryConsoleShow" id="simxAuxiliaryConsoleShow"></a>simxAuxiliaryConsoleShow (regular API equivalent: <a href="regularApi/simAuxiliaryConsoleShow.htm">sim.auxiliaryConsoleShow</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Shows or hides an auxiliary console window. See also <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a> and <a href="#simxAuxiliaryConsoleClose">simxAuxiliaryConsoleClose</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxAuxiliaryConsoleShow(int clientID,int consoleHandle,boolean showState,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>consoleHandle</strong>: the handle of the console window, previously returned by the <a href="#simxAuxiliaryConsoleOpen">simxAuxiliaryConsoleOpen</a> command</div>
<div><strong>showState</strong>: indicates whether the console should be hidden (false) or shown (true)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxAuxiliaryConsoleShow">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxAuxiliaryConsoleShow">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxAuxiliaryConsoleShow">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxAuxiliaryConsoleShow">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxAuxiliaryConsoleShow">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxBreakForceSensor" id="simxBreakForceSensor"></a>simxBreakForceSensor (regular API equivalent: <a href="regularApi/simBreakForceSensor.htm">sim.breakForceSensor</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Allows breaking a force sensor during simulation. A broken force sensor will lose its positional and orientational constraints. See also <a href="#simxReadForceSensor">simxReadForceSensor</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxBreakForceSensor(int clientID,int forceSensorHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>forceSensorHandle</strong>: handle of the force sensor</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxBreakForceSensor">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxBreakForceSensor">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxBreakForceSensor">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxBreakForceSensor">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxBreakForceSensor">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar>
<a name="simxCallScriptFunction" id="simxCallScriptFunction"></a>simxCallScriptFunction (regular API equivalent: <a href="regularApi/simCallScriptFunction.htm">sim.callScriptFunction</a>)
</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Remotely calls a CoppeliaSim script function. When calling <a href="simulationScripts.htm">simulation scripts</a>, then simulation must be running (and threaded scripts must still be running, i.e. not ended yet). Refer to <a href="remoteApiExtension.htm">this section</a> for additional details.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxCallScriptFunction(int clientID,final String scriptDescription,int scriptHandleOrType,final String functionName,final <a href="#IntWA">IntWA</a> inInts,final <a href="#FloatWA">FloatWA</a> inFloats,final <a href="#StringWA">StringWA</a> inStrings,final <a href="#CharWA">CharWA</a> inBuffer,<a href="#IntWA">IntWA</a> outInts,<a href="#FloatWA">FloatWA</a> outFloats,<a href="#StringWA">StringWA</a> outStrings,<a href="#CharWA">CharWA</a> outBuffer,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>scriptDescription</strong>: the name of the scene object where the script is attached to, or an empty string if the script has no associated scene object.</div>
<div><strong>scriptHandleOrType</strong>: the handle of the script, otherwise the type of the script:</div>
<div class=tab><em>sim_scripttype_mainscript</em> (0): the <a href="mainScript.htm">main script</a> will be called.</div>
<div class=tab><em>sim_scripttype_childscript</em> (1): a <a href="childScripts.htm">child script</a> will be called.</div>
<div class=tab><em>sim_scripttype_customizationscript</em> (6): a <a href="customizationScripts.htm">customization script</a> will be called.</div>
<div><strong>functionName</strong>: the name of the Lua function to call in the specified script.</div>

<div><strong>inInts</strong> (input): the input integer values that are handed over to the script function. Can be null.</div>
<div><strong>inFloats</strong> (input): the input floating-point values that are handed over to the script function. Can be null.</div>
<div><strong>inStrings</strong> (input): the input strings that are handed over to the script function. Can be null.</div>
<div><strong>inBuffer</strong> (input): the input buffer that is handed over to the script function. Can be null.</div>

<div><strong>outInts</strong> (output): the returned integer values. Can be null.</div>
<div><strong>outFloats</strong> (output): the returned floating-point values. Can be null.</div>
<div><strong>outStrings</strong> (output): the returned strings. Can be null.</div>
<div><strong>outBuffer</strong> (output): the returned buffer. Can be null.</div>

<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxCallScriptFunction">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxCallScriptFunction">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxCallScriptFunction">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxCallScriptFunction">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxCallScriptFunction">Lua</a></td> 
</tr> 
</table> 
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<h3 class=subsectionBar><a name="simxClearFloatSignal" id="simxClearFloatSignal"></a>simxClearFloatSignal (regular API equivalent: <a href="regularApi/simClearDoubleSignal.htm">sim.clearDoubleSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Clears a float signal (removes it). See also <a href="#simxSetFloatSignal">simxSetFloatSignal</a>, <a href="#simxClearIntegerSignal">simxClearIntegerSignal</a> and <a href="#simxClearStringSignal">simxClearStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxClearFloatSignal(int clientID,final String signalName, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal or an empty string to clear all float signals</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxClearFloatSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxClearFloatSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxClearFloatSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxClearFloatSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxClearFloatSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxClearIntegerSignal" id="simxClearIntegerSignal"></a>simxClearIntegerSignal (regular API equivalent: <a href="regularApi/simClearIntegerSignal.htm">sim.clearIntegerSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Clears an integer signal (removes it). See also <a href="#simxSetIntegerSignal">simxSetIntegerSignal</a>, <a href="#simxClearFloatSignal">simxClearFloatSignal</a> and <a href="#simxClearStringSignal">simxClearStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxClearIntegerSignal(int clientID,final String signalName,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal or an empty string to clear all integer signals</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxClearIntegerSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxClearIntegerSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxClearIntegerSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxClearIntegerSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxClearIntegerSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxClearStringSignal" id="simxClearStringSignal"></a>simxClearStringSignal (regular API equivalent: <a href="regularApi/simClearStringSignal.htm">sim.clearStringSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Clears a string signal (removes it). See also <a href="#simxSetStringSignal">simxSetStringSignal</a>, <a href="#simxClearIntegerSignal">simxClearIntegerSignal</a> and <a href="#simxClearFloatSignal">simxClearFloatSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxClearStringSignal(int clientID,final String signalName,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal or an empty string to clear all string signals</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxClearStringSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxClearStringSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxClearStringSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxClearStringSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxClearStringSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxCloseScene" id="simxCloseScene"></a>simxCloseScene (regular API equivalent: <a href="regularApi/simCloseScene.htm">simCloseScene</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Closes current scene, and switches to another open scene. If there is no other open scene, a new scene is then created. Should only be called when simulation is not running and is only executed by <a href="remoteApiServerSide.htm#continuousRemoteApiService">continuous remote API server services</a>. See also <a href="#simxLoadScene">simxLoadScene</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxCloseScene(int clientID,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxCloseScene">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxCloseScene">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxCloseScene">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxCloseScene">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxCloseScene">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxCopyPasteObjects" id="simxCopyPasteObjects"></a>simxCopyPasteObjects (regular API equivalent: <a href="regularApi/simCopyPasteObjects.htm">sim.copyPasteObjects</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Copies and pastes objects, together with all their associated calculation objects and child scripts. To copy and paste whole models, you can simply copy and paste the model base object.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxCopyPasteObjects(int clientID,<a href="#IntWA">IntWA</a> objectHandles, <a href="#IntWA">IntWA</a> newObjectHandles, int operationMode);</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandles</strong>: an array containing the handles of the objects to copy</div>
<div><strong>newObjectHandles</strong>: an array of handles of newly created objects (output). Individual objects of a new model are not returned, but only the model base. </div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxCopyPasteObjects">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxCopyPasteObjects">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxCopyPasteObjects">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxCopyPasteObjects">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxCopyPasteObjects">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar>
<a name="simxCreateDummy" id="simxCreateDummy"></a>simxCreateDummy (regular API equivalent: <a href="regularApi/simCreateDummy.htm">sim.createDummy</a>)
</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Creates a <a href="dummies.htm">dummy</a> in the scene.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxCreateDummy(int clientID,float size,<a href="#CharWA">CharWA</a> colors,<a href="#IntW">IntW</a> dummyHandle,simxInt operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>size</strong>: the size of the dummy.</div>
<div><strong>colors</strong>: 4*3 bytes (0-255) for ambient_diffuse RGB, 3 reserved values (set to zero), specular RGB and emissive RGB. Can be null for default colors.</div>
<div><strong>dummyHandle</strong>: the returned dummy handle (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxCreateDummy">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxCreateDummy">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxCreateDummy">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxCreateDummy">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxCreateDummy">Lua</a></td>  
</tr> 
</table> 
<br>















<h3 class=subsectionBar><a name="simxDisplayDialog" id="simxDisplayDialog"></a>simxDisplayDialog (regular API equivalent: <a href="regularApi/simDisplayDialog.htm">sim.displayDialog</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Displays a generic dialog box during simulation (and only during simulation!). Use in conjunction with <a href="#simxGetDialogResult">simxGetDialogResult</a>, <a href="#simxGetDialogInput">simxGetDialogInput</a> and <a href="#simxEndDialog">simxEndDialog</a>. Use <a href="customUIPlugin.htm">custom user interfaces</a> instead if a higher customization level is required.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxDisplayDialog(int clientID,final String titleText,final String mainText,int dialogType,final String initialText,<a href="#FloatWA">FloatWA</a> titleColors,<a href="#FloatWA">FloatWA</a> dialogColors,<a href="#IntW">IntW</a> dialogHandle,<a href="#IntW">IntW</a> uiHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>titleText</strong>: Title bar text</div>
<div><strong>mainText</strong>: Information text</div>
<div><strong>dialogType</strong>: a <a href="apiConstants.htm#genericDialogStyles">generic dialog style</a></div>
<div><strong>initialText</strong>: Initial text in the edit box if the dialog is of type sim_dlgstyle_input. </div>
<div><strong>titleColors</strong>: Title bar color (6 values for RGB for background and foreground), can be null for default colors</div>
<div><strong>dialogColors</strong>: Dialog color (6 values for RGB for background and foreground), can be null for default colors</div>
<div><strong>dialogHandle</strong>: handle of the generic dialog (output) (different from OpenGl-based custom UI handle!! (see hereafter)). This handle should be used with the following functions: <a href="#simxGetDialogResult">simxGetDialogResult</a>, <a href="#simxGetDialogInput">simxGetDialogInput</a> and <a href="#simxEndDialog">simxEndDialog</a>.</div>
<div><strong>uiHandle</strong>: the handle of the corresponding OpenGl-based custom UI (output). </div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxDisplayDialog">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxDisplayDialog">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxDisplayDialog">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxDisplayDialog">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxDisplayDialog">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxEndDialog" id="simxEndDialog"></a>simxEndDialog (regular API equivalent: <a href="regularApi/simEndDialog.htm">sim.endDialog</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Closes and releases resource from a previous call to <a href="#simxDisplayDialog">simxDisplayDialog</a>. Even if the dialog is not visible anymore, you should release resources by using this function (however at the end of a simulation, all dialog resources are automatically released).</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxEndDialog(int clientID,int dialogHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>dialogHandle</strong>: handle of generic dialog (return value of <a href="#simxDisplayDialog">simxDisplayDialog</a>)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxEndDialog">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxEndDialog">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxEndDialog">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxEndDialog">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxEndDialog">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxEraseFile" id="simxEraseFile"></a>simxEraseFile</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Erases a file on the server side. This function is used by several other functions internally (e.g. <a href="#simxLoadModel">simxLoadModel</a>). See also <a href="#simxTransferFile">simxTransferFile</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxEraseFile(int clientID,final String fileName_serverSide, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>fileName_serverSide</strong>: the file to erase on the server side. For now, do not specify a path (the file will be erased in the remote API plugin directory)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxEraseFile">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxEraseFile">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxEraseFile">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxEraseFile">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxEraseFile">Lua</a></td> 
</tr> 
</table> 
<br>




<h3 class=subsectionBar><a name="simxFinish" id="simxFinish"></a>simxFinish</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Ends the communication thread. This should be the very last remote API function called on the client side. simxFinish should only be called after a successfull call to <a href="#simxStart">simxStart</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>void simxFinish(int clientID)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>. Can be -1 to end all running communication threads.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>none</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxFinish">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxFinish">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxFinish">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxFinish">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxFinish">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetAndClearStringSignal" id="simxGetAndClearStringSignal"></a>simxGetAndClearStringSignal</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Refer to <a href="#simxReadStringStream">simxReadStringStream</a> instead.<br><br>Gets the value of a string signal, then clears it.  Useful to retrieve continuous data from the server. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxGetStringSignal">simxGetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetAndClearStringSignal(int clientID,final String signalName, <a href="#CharWA">CharWA</a> signalValue, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: the value of the signal, which might contain any values, including embedded zeros (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Since this function will clear a read signal, and we cannot afford to wait for a reply (well, we could, but that would mean a blocking operation), the function operates in a special mode and should be used as in following example:</div>

<br>
<pre class=lightPurpleBoxNoMarginAndSmall>
// Initialization phase:
CharWA str=new CharWA(1);
sim.simxGetAndClearStringSignal(clientID,&quot;sig&quot;,str,sim.simx_opmode_streaming);

// while we are connected:
while (sim.simxGetConnectionId(clientID)!=-1)
{ 
  if (sim.simxGetAndClearStringSignal(clientID,&quot;sig&quot;,str,sim.simx_opmode_buffer)==
  		simx_return_ok)
  { 
    // A signal was retrieved.
    // Enable streaming again (was automatically disabled with the positive event):
    sim.simxGetAndClearStringSignal(clientID,&quot;sig&quot;,str,sim.simx_opmode_streaming);
  }

  ..

}</pre>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetAndClearStringSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetAndClearStringSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetAndClearStringSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetAndClearStringSignal">Octave</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetArrayParameter" id="simxGetArrayParameter"></a>simxGetArrayParameter (regular API equivalent: <a href="regularApi/simGetArrayParameter.htm">sim.getArrayParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves 3 values from an array. See the <a href="apiConstants.htm#arrayParameters">array parameter identifiers</a>. See also <a href="#simxSetArrayParameter">simxSetArrayParameter</a>, <a href="#simxGetBooleanParameter">simxGetBooleanParameter</a>, <a href="#simxGetIntegerParameter">simxGetIntegerParameter</a>, <a href="#simxGetFloatingParameter">simxGetFloatingParameter</a> and <a href="#simxGetStringParameter">simxGetStringParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetArrayParameter(int clientID,int paramIdentifier,<a href="#FloatWA">FloatWA</a> paramValues,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: an <a href="apiConstants.htm#arrayParameters">array parameter identifier</a></div>
<div><strong>paramValues</strong>: the array value (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 

<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetArrayParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetArrayParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetArrayParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetArrayParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetArrayParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetBooleanParameter" id="simxGetBooleanParameter"></a>simxGetBooleanParameter (regular API equivalent: <a href="regularApi/simGetBoolParameter.htm">sim.getBoolParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a boolean value. See the <a href="apiConstants.htm#booleanParameters">Boolean parameter identifiers</a>. See also <a href="#simxSetBooleanParameter">simxSetBooleanParameter</a>, <a href="#simxGetIntegerParameter">simxGetIntegerParameter</a>, <a href="#simxGetFloatingParameter">simxGetFloatingParameter</a>, <a href="#simxGetArrayParameter">simxGetArrayParameter</a> and <a href="#simxGetStringParameter">simxGetStringParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetBooleanParameter(int clientID,int paramIdentifier,<a href="#BoolW">BoolW</a> paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: a <a href="apiConstants.htm#booleanParameters">Boolean parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetBooleanParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetBooleanParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetBooleanParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetBooleanParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetBooleanParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetCollectionHandle" id="simxGetCollectionHandle"></a>simxGetCollectionHandle (regular API equivalent: <a href="regularApi/simGetCollectionHandle.htm">sim.getCollectionHandle</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a collection handle based on its name.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetCollectionHandle(int clientID,final String collectionName,<a href="#IntW">IntW</a> handle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>collectionName</strong>: name of the collection.</div>
<div><strong>handle</strong>: the handle (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetCollectionHandle">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetCollectionHandle">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetCollectionHandle">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetCollectionHandle">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetCollectionHandle">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetCollisionHandle" id="simxGetCollisionHandle"></a>simxGetCollisionHandle (regular API equivalent: <a href="regularApi/simGetCollisionHandle.htm">sim.getCollisionHandle</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a collision object handle based on its name. See also <a href="#simxReadCollision">simxReadCollision</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetCollisionHandle(int clientID,final String collisionObjectName,<a href="#IntW">IntW</a> handle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>collisionObjectName</strong>: name of the collision object.</div>
<div><strong>handle</strong>: the handle (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetCollisionHandle">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetCollisionHandle">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetCollisionHandle">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetCollisionHandle">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetCollisionHandle">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetConnectionId" id="simxGetConnectionId"></a>simxGetConnectionId</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Returns the ID of the current connection. Use this function to track the connection state to the server. See also <a href="#simxStart">simxStart</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetConnectionId(int clientID)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a connection ID, or -1 if the client is not connected to the server. Different connection IDs indicate temporary disconections in-between.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetConnectionId">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetConnectionId">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetConnectionId">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetConnectionId">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetConnectionId">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetDialogInput" id="simxGetDialogInput"></a>simxGetDialogInput (regular API equivalent: <a href="regularApi/simGetDialogInput.htm">sim.getDialogInput</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Queries the text the user entered into a  generic dialog box of style sim_dlgstyle_input. To be used after <a href="#simxDisplayDialog">simxDisplayDialog</a> was called and after <a href="#simxGetDialogResult">simxGetDialogResult</a> returned sim_dlgret_ok.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetDialogInput(int clientID,int dialogHandle,<a href="#StringW">StringW</a> inputText,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>dialogHandle</strong>: handle of generic dialog (return value of <a href="#simxDisplayDialog">simxDisplayDialog</a>)</div>
<div><strong>inputText</strong>: the string the user entered (output). </div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking 
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetDialogInput">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetDialogInput">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetDialogInput">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetDialogInput">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetDialogInput">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetDialogResult" id="simxGetDialogResult"></a>simxGetDialogResult (regular API equivalent: <a href="regularApi/simGetDialogResult.htm">sim.getDialogResult</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Queries the result of a dialog box. To be used after <a href="#simxDisplayDialog">simxDisplayDialog</a> was called.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetDialogResult(int clientID,int dialogHandle,<a href="#IntW">IntW</a> result,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>dialogHandle</strong>: handle of generic dialog (return value of <a href="#simxDisplayDialog">simxDisplayDialog</a>)</div>
<div><strong>result</strong>: the <a href="apiConstants.htm#genericDialogReturnValues">result value</a>. (output)</div>
<br>
<div>Note. If the return value is sim_dlgret_still_open, the dialog was not closed and no button was pressed. Otherwise, you should free resources with <a href="#simxEndDialog">simxEndDialog</a> (the dialog might not be visible anymore, but is still present)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot 
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetDialogResult">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetDialogResult">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetDialogResult">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetDialogResult">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetDialogResult">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetDistanceHandle" id="simxGetDistanceHandle"></a>simxGetDistanceHandle (regular API equivalent: <a href="regularApi/simGetDistanceHandle.htm">sim.getDistanceHandle</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a distance object handle based on its name. See also <a href="#simxReadDistance">simxReadDistance</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetDistanceHandle(int clientID,final String distanceObjectName,<a href="#IntW">IntW</a> handle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>distanceObjectName</strong>: name of the distance object.</div>
<div><strong>handle</strong>: the handle (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetDistanceHandle">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetDistanceHandle">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetDistanceHandle">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetDistanceHandle">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetDistanceHandle">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetFloatingParameter" id="simxGetFloatingParameter"></a>simxGetFloatingParameter (regular API equivalent: <a href="regularApi/simGetFloatParameter.htm">sim.getFloatParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a floating point value. See the <a href="apiConstants.htm#floatingParameters">floating-point parameter identifiers</a>. See also <a href="#simxSetFloatingParameter">simxSetFloatingParameter</a>, <a href="#simxGetBooleanParameter">simxGetBooleanParameter</a>, <a href="#simxGetIntegerParameter">simxGetIntegerParameter</a>, <a href="#simxGetArrayParameter">simxGetArrayParameter</a> and <a href="#simxGetStringParameter">simxGetStringParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetFloatingParameter(int clientID,int paramIdentifier,<a href="#FloatW">FloatW</a> paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: a <a href="apiConstants.htm#floatingParameters">floating parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetFloatingParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetFloatingParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetFloatingParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetFloatingParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetFloatingParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetFloatSignal" id="simxGetFloatSignal"></a>simxGetFloatSignal (regular API equivalent: <a href="regularApi/simGetDoubleSignal.htm">sim.getDoubleSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Gets the value of a float signal. Signals are cleared at simulation start. See also <a href="#simxSetFloatSignal">simxSetFloatSignal</a>, <a href="#simxClearFloatSignal">simxClearFloatSignal</a>, <a href="#simxGetIntegerSignal">simxGetIntegerSignal</a> and <a href="#simxGetStringSignal">simxGetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetFloatSignal(int clientID,final String signalName,<a href="#FloatW">FloatW</a> signalValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: the value of the signal (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetFloatSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetFloatSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetFloatSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetFloatSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetFloatSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetInMessageInfo" id="simxGetInMessageInfo"></a>simxGetInMessageInfo</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr><div>Retrieves information about the last received message from the server. This is a remote API helper function. See also <a href="#simxGetOutMessageInfo">simxGetOutMessageInfo</a>.</div>
<br>
<div>If the client didn't receive any command reply from the server for a while, the data retrieved with this function won't be up-to-date. In order to avoid this, you should start at least one streaming command, which will guarantee regular message income.</div>
</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetInMessageInfo(int clientID,int infoType, <a href="#IntW">IntW</a> info)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>infoType</strong>: an <a href="remoteApiConstants.htm#inboxMessageInfoType">inbox message info type</a></div>
<div><strong>info</strong>: the requested information (output)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>-1 in case of an error</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetInMessageInfo">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetInMessageInfo">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetInMessageInfo">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetInMessageInfo">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetInMessageInfo">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetIntegerParameter" id="simxGetIntegerParameter"></a>simxGetIntegerParameter (regular API equivalent: <a href="regularApi/simGetInt32Parameter.htm">sim.getInt32Parameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves an integer value. See the <a href="apiConstants.htm#integerParameters">integer parameter identifiers</a>. See also <a href="#simxSetIntegerParameter">simxSetIntegerParameter</a>, <a href="#simxGetBooleanParameter">simxGetBooleanParameter</a>, <a href="#simxGetFloatingParameter">simxGetFloatingParameter</a>, <a href="#simxGetArrayParameter">simxGetArrayParameter</a> and <a href="#simxGetStringParameter">simxGetStringParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetIntegerParameter(int clientID,int paramIdentifier,<a href="#IntW">IntW</a> paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: an <a href="apiConstants.htm#integerParameters">integer parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetIntegerParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetIntegerParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetIntegerParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetIntegerParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetIntegerParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetIntegerSignal" id="simxGetIntegerSignal"></a>simxGetIntegerSignal (regular API equivalent: <a href="regularApi/simGetIntegerSignal.htm">sim.getIntegerSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Gets the value of an integer signal. Signals are cleared at simulation start. See also <a href="#simxSetIntegerSignal">simxSetIntegerSignal</a>, <a href="#simxClearIntegerSignal">simxClearIntegerSignal</a>, <a href="#simxGetFloatSignal">simxGetFloatSignal</a> and <a href="#simxGetStringSignal">simxGetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetIntegerSignal(int clientID,final String signalName,<a href="#IntW">IntW</a> signalValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: the value of the signal (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetIntegerSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetIntegerSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetIntegerSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetIntegerSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetIntegerSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetJointForce" id="simxGetJointForce"></a>simxGetJointForce (regular API equivalent: <a href="regularApi/simGetJointForce.htm">sim.getJointForce</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the force or torque applied to a joint  along/about its active axis. This function retrieves meaningful information only if the joint is prismatic or revolute, and is dynamically enabled. With the <a href="dynamicsModule.htm#bullet">Bullet</a> engine, this function returns the force or torque applied to the joint motor  (torques from joint limits are not taken into account). With the <a href="dynamicsModule.htm#ode">ODE</a> or <a href="dynamicsModule.htm#vortex">Vortex</a> engine, this function returns the total force or torque applied to a joint  along/about its z-axis. See also <a href="#simxSetJointMaxForce">simxSetJointMaxForce</a>, <a href="#simxReadForceSensor">simxReadForceSensor</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetJointForce(int clientID,int jointHandle,<a href="#FloatW">FloatW</a> force,int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>force</strong>: the force or the torque applied to the joint  along/about its z-axis
(output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetJointForce">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetJointForce">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetJointForce">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetJointForce">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetJointForce">Lua</a></td> 
</tr> 
</table> 
<br>
















<h3 class=subsectionBar><a name="simxGetJointMaxForce" id="simxGetJointMaxForce"></a>simxGetJointMaxForce (regular API equivalent: <a href="regularApi/simGetJointMaxForce.htm">sim.getJointMaxForce</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the maximum force the joint is able to exert. See also <a href="#simxSetJointMaxForce">simxSetJointMaxForce</a> and <a href="#simxGetJointForce">simxGetJointForce</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetJointMaxForce(int clientID,int jointHandle,<a href="#FloatW">FloatW</a> force,int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>force</strong>: the maximum force the joint can exert</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetJointMaxForce">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetJointMaxForce">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetJointMaxForce">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetJointMaxForce">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetJointMaxForce">Lua</a></td> 
</tr> 
</table> 
<br>
















<h3 class=subsectionBar><a name="simxGetJointMatrix" id="simxGetJointMatrix"></a>simxGetJointMatrix (regular API equivalent: <a href="regularApi/simGetJointMatrix.htm">sim.getJointMatrix</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also <a href="#simxSetSphericalJointMatrix">simxSetSphericalJointMatrix</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetJointMatrix(int clientID,int jointHandle, <a href="#FloatWA">FloatWA</a> matrix, int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>matrix</strong>: 12 values (output). See the regular API equivalent function for details
</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetJointMatrix">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetJointMatrix">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetJointMatrix">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetJointMatrix">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetJointMatrix">Lua</a></td> 
</tr> 
</table> 
<br>










<h3 class=subsectionBar><a name="simxGetJointPosition" id="simxGetJointPosition"></a>simxGetJointPosition (regular API equivalent: <a href="regularApi/simGetJointPosition.htm">sim.getJointPosition</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the intrinsic position of a joint. This function cannot be used with spherical joints (use <a href="#simxGetJointMatrix">simxGetJointMatrix</a> instead). See also <a href="#simxSetJointPosition">simxSetJointPosition</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetJointPosition(int clientID,int jointHandle, <a href="#FloatW">FloatW</a> position, int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>position</strong>: intrinsic position of the joint (output). This is a one-dimensional value: if the joint is revolute, the rotation angle is returned, if the joint is prismatic, the translation amount is returned, etc.
</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetJointPosition">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetJointPosition">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetJointPosition">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetJointPosition">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetJointPosition">Lua</a></td> 
</tr> 
</table> 
<br>












<h3 class=subsectionBar><a name="simxGetLastCmdTime" id="simxGetLastCmdTime"></a>simxGetLastCmdTime</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr><div>Retrieves the simulation time of the last fetched command (i.e. when the last fetched command was processed on the server side). The function can be used to verify how &quot;fresh&quot; a command reply is, or whether a command reply was recently updated. For example:</div>
<br>

<pre class=lightPurpleBoxNoMarginAndSmall>
int err=sim.simxGetVisionSensorImage(clientID,handle,res,img,0,sim.sim_opmode_buffer);
if (err==sim.simx_return_ok)
    imageAcquisitionTime=sim.simxGetLastCmdTime(clientID);
</pre>

<br>
<div>If some streaming commands are running, simxGetLastCmdTime will always retrieve the current simulation time, otherwise, only the simulation time of the last command that retrieved data from CoppeliaSim. This is a remote API helper function.</div></td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetLastCmdTime(int clientID)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>The simulation time in milliseconds when the command reply was generated, or 0 if simulation was not running.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetLastCmdTime">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetLastCmdTime">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetLastCmdTime">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetLastCmdTime">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetLastCmdTime">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetLastErrors" id="simxGetLastErrors"></a>simxGetLastErrors (regular API equivalent: <a href="regularApi/simGetLastError.htm">sim.getLastError</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the last 50 errors that occured on the server side, and clears the error buffer there. Only errors that occured because of this client will be reported.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetLastErrors(int clientID,<a href="#StringWA">StringWA</a> errorStrings,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>errorStrings</strong>: the error strings (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) when not debugging. For debugging purposes, use simx_opmode_blocking.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetLastErrors">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetLastErrors">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetLastErrors">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetLastErrors">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetLastErrors">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetModelProperty" id="simxGetModelProperty"></a>simxGetModelProperty (regular API equivalent: <a href="regularApi/simGetModelProperty.htm">sim.getModelProperty</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the properties of a model. See also <a href="#simxSetModelProperty">simxSetModelProperty</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetModelProperty(int clientID,int objectHandle,<a href="#IntW">IntW</a> prop,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>prop</strong>: the <a href="apiConstants.htm#modelProperties">model property value</a> (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetModelProperty">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetModelProperty">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetModelProperty">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetModelProperty">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetModelProperty">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectChild" id="simxGetObjectChild"></a>simxGetObjectChild (regular API equivalent: <a href="regularApi/simGetObjectChild.htm">sim.getObjectChild</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the handle of an object's child object. See also <a href="#simxGetObjectParent">simxGetObjectParent</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectChild(int clientID,int parentObjectHandle,int childIndex,<a href="#IntW">IntW</a> childObjectHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>parentObjectHandle</strong>: handle of the object</div>
<div><strong>childIndex</strong>: zero-based index of the child's position. To retrieve all children of an object, call the function by increasing the index until the child handle is  -1</div>
<div><strong>childObjectHandle</strong>: the handle of the child object (output). If the value is -1, there is no child at the given index</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectChild">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectChild">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectChild">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectChild">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectChild">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectFloatParameter" id="simxGetObjectFloatParameter"></a>simxGetObjectFloatParameter (regular API equivalent: <a href="regularApi/simGetObjectFloatParameter.htm">sim.getObjectFloatParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a floating-point parameter of a object. See also <a href="#simxSetObjectFloatParameter">simxSetObjectFloatParameter</a> and <a href="#simxGetObjectIntParameter">simxGetObjectIntParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectFloatParameter(int clientID,int objectHandle,int parameterID,<a href="#FloatW">FloatW</a> parameterValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>parameterID</strong>: identifier of the parameter to retrieve. See the <a href="objectParameterIDs.htm">list of all possible object parameter identifiers</a></div>
<div><strong>parameterValue</strong>: the value of the parameter (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectFloatParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectFloatParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectFloatParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectFloatParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectFloatParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectGroupData" id="simxGetObjectGroupData"></a>simxGetObjectGroupData</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Simultaneously retrieves data of various objects in a CoppeliaSim scene.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectGroupData(int clientID,int objectType,int dataType,<a href="#IntWA">IntWA</a> handles,<a href="#IntWA">IntWA</a> intData,<a href="#FloatWA">FloatWA</a> floatData,<a href="#StringWA">StringWA</a> stringData,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectType</strong>: a <a href="apiConstants.htm#sceneObjectTypes">scene object type</a>, sim_appobj_object_type for all <a href="objects.htm">scene objects</a>, or a <a href="#simxGetCollectionHandle">collection</a> handle<a href="objects.htm"></a>.</div>
<div><strong>dataType</strong>: the type of data that is desired: </div>
<div class=tab>0: retrieves the object names (in stringData.)</div>
<div class=tab>1: retrieves the <a href="apiConstants.htm#sceneObjectTypes">object types</a> (in intData)</div>
<div class=tab>2: retrieves the parent object handles (in intData)</div>
<div class=tab>3: retrieves the absolute object positions (in floatData. There are 3 values for each object (x,y,z))</div>
<div class=tab>4: retrieves the local object positions (in floatData. There are 3 values for each object (x,y,z))</div>
<div class=tab>5: retrieves the absolute object orientations as <a href="eulerAngles.htm">Euler angles</a> (in floatData. There are 3 values for each object (alpha,beta,gamma))</div>
<div class=tab>6: retrieves the local object orientations as <a href="eulerAngles.htm">Euler angles</a> (in floatData. There are 3 values for each object (alpha,beta,gamma))</div>
<div class=tab>7: retrieves the absolute object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))</div>
<div class=tab>8: retrieves the local object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))</div>
<div class=tab>9: retrieves the absolute object positions and orientations (as <a href="eulerAngles.htm">Euler angles</a>) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))</div>
<div class=tab>10: retrieves the local object positions and orientations (as <a href="eulerAngles.htm">Euler angles</a>) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))</div>
<div class=tab>11: retrieves the absolute object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))</div>
<div class=tab>12: retrieves the local object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))</div>
<div class=tab>13: retrieves proximity sensor data (in intData (2 values): detection state, detected object handle. In floatData (6 values): detected point (x,y,z) and detected surface normal (nx,ny,nz))</div>
<div class=tab>14: retrieves force sensor data (in intData (1 values): force sensor state. In floatData (6 values): force (fx,fy,fz) and torque (tx,ty,tz))</div>
<div class=tab>15: retrieves joint state data (in floatData (2 values): position, force/torque)</div>
<div class=tab>16: retrieves joint properties data (in intData (2 values): joint type, joint mode (bit16=hybid operation). In floatData (2 values): joint limit low, joint range (-1.0 if joint is cyclic))</div>
<div class=tab>17: retrieves the object linear velocity (in floatData. There are 3 values for each object (vx,vy,vz))</div>
<div class=tab>18: retrieves the object angular velocity as <a href="eulerAngles.htm">Euler angles</a> per seconds (in floatData. There are 3 values for each object (dAlpha,dBeta,dGamma))</div>
<div class=tab>19: retrieves the object linear and angular velocity (in floatData. There are 6 values for each object (vx,vy,vz,dAlpha,dBeta,dGamma))</div>

<div><strong>handles</strong> (output): the object handles.</div>
<div><strong>intData</strong> (output): the integer values.</div>
<div><strong>floatData</strong> (output): the float values.</div>
<div><strong>stringData</strong> (output): the string values.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking or simx_opmode_streaming.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectGroupData">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectGroupData">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectGroupData">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectGroupData">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectGroupData">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectHandle" id="simxGetObjectHandle"></a>simxGetObjectHandle (regular API equivalent: <a href="regularApi/simGetObjectHandle.htm">sim.getObjectHandle</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves an object handle based on its name.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectHandle(int clientID,final String objectName, <a href="#IntW">IntW</a> handle, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectName</strong>: name of the object.</div>
<div><strong>handle</strong>: the handle (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectHandle">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectHandle">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectHandle">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectHandle">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectHandle">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectIntParameter" id="simxGetObjectIntParameter"></a>simxGetObjectIntParameter (regular API equivalent: <a href="regularApi/simGetObjectInt32Parameter.htm">sim.getObjectInt32Parameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves an integer parameter of a object. See also <a href="#simxSetObjectIntParameter">simxSetObjectIntParameter</a> and <a href="#simxGetObjectFloatParameter">simxGetObjectFloatParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectIntParameter(int clientID,int objectHandle,int parameterID,<a href="#IntW">IntW</a> parameterValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>parameterID</strong>: identifier of the parameter to retrieve. See the <a href="objectParameterIDs.htm">list of all possible object parameter identifiers</a></div>
<div><strong>parameterValue</strong>: the value of the parameter (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectIntParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectIntParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectIntParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectIntParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectIntParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectOrientation" id="simxGetObjectOrientation"></a>simxGetObjectOrientation (regular API equivalent: <a href="regularApi/simGetObjectOrientation.htm">sim.getObjectOrientation</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the orientation (<a href="eulerAngles.htm">Euler angles</a>) of an object. See also <a href="#simxSetObjectOrientation">simxSetObjectOrientation</a>, <a href="#simxGetObjectQuaternion">simxGetObjectQuaternion</a> and <a href="#simxGetObjectPosition">simxGetObjectPosition</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectOrientation(int clientID,int objectHandle,int relativeToObjectHandle,<a href="#FloatWA">FloatWA</a> eulerAngles,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame we want the orientation.   Specify -1 to retrieve the absolute orientation, sim_handle_parent to   retrieve the orientation relative to the object's parent, or an object   handle relative to whose reference frame you want the orientation</div>
<div><strong>eulerAngles</strong>: the Euler angles (alpha, beta and gamma) (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectOrientation">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectOrientation">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectOrientation">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectOrientation">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectOrientation">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectParent" id="simxGetObjectParent"></a>simxGetObjectParent (regular API equivalent: <a href="regularApi/simGetObjectParent.htm">sim.getObjectParent</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the handle of an object's parent object. See also <a href="#simxGetObjectChild">simxGetObjectChild</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectParent(int clientID,int childObjectHandle,<a href="#IntW">IntW</a> parentObjectHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>parentObjectHandle</strong>: the handle of the parent object (output). If the value is -1, the object has no parent</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectParent">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectParent">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectParent">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectParent">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectParent">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectPosition" id="simxGetObjectPosition"></a>simxGetObjectPosition (regular API equivalent: <a href="regularApi/simGetObjectPosition.htm">sim.getObjectPosition</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the position  of an object. See also <a href="#simxSetObjectPosition">simxSetObjectPosition</a>, <a href="#simxGetObjectOrientation">simxGetObjectOrientation</a>, <a href="#simxGetObjectQuaternion">simxGetObjectQuaternion</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectPosition(int clientID,int objectHandle, int relativeToObjectHandle, <a href="#FloatWA">FloatWA</a> position, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame we want the position.   Specify -1 to retrieve the absolute position, sim_handle_parent to   retrieve the position relative to the object's parent, or an object   handle relative to whose reference frame you want the position</div>
<div><strong>position</strong>: the position (x, y, z) (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectPosition">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectPosition">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectPosition">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectPosition">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectPosition">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectQuaternion" id="simxGetObjectQuaternion"></a>simxGetObjectQuaternion (regular API equivalent: <a href="regularApi/simGetObjectQuaternion.htm">sim.getObjectQuaternion</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the quaternion  of an object. See also <a href="#simxSetObjectQuaternion">simxSetObjectQuaternion</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectQuaternion(int clientID,int objectHandle, int relativeToObjectHandle, <a href="#FloatWA">FloatWA</a> quat, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame we want the quaternion.   Specify -1 to retrieve the absolute quaternion, sim_handle_parent to   retrieve the quaternion relative to the object's parent, or an object   handle relative to whose reference frame you want the quaternion</div>
<div><strong>quat</strong>: the quaternion (x, y, z, w) (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectQuaternion">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectQuaternion">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectQuaternion">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectQuaternion">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectQuaternion">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjects" id="simxGetObjects"></a>simxGetObjects (regular API equivalent: <a href="regularApi/simGetObjects.htm">sim.getObjects</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves object handles of a given type, or of all types (i.e. all object handles). See also <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjects(int clientID,int objectType,<a href="#IntWA">IntWA</a> objectHandles,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectType</strong>: <a href="apiConstants.htm#sceneObjectTypes">object type</a> (sim_object_shape_type, sim_object_joint_type, etc., or sim_handle_all for any type of object</div>
<div><strong>objectHandles</strong>: an object handle array (output). </div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjects">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjects">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjects">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjects">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjects">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectSelection" id="simxGetObjectSelection"></a>simxGetObjectSelection (regular API equivalent: <a href="regularApi/simGetObjectSelection.htm">sim.getObjectSelection</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves all selected object's handles. See also <a href="#simxSetObjectSelection">simxSetObjectSelection</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectSelection(int clientID,<a href="#IntWA">IntWA</a> objectHandles, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandles</strong>: an object handle array (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking depending on the intent.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectSelection">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectSelection">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectSelection">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectSelection">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectSelection">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetObjectVelocity" id="simxGetObjectVelocity"></a>simxGetObjectVelocity (regular API equivalent: <a href="regularApi/simGetObjectVelocity.htm">sim.getObjectVelocity</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the linear and angular velocity of an object. See also <a href="#simxGetObjectPosition">simxGetObjectPosition</a>, <a href="#simxGetObjectOrientation">simxGetObjectOrientation</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetObjectVelocity(int clientID,int objectHandle, <a href="#FloatWA">FloatWA</a> linearVelocity, <a href="#FloatWA">FloatWA</a> angularVelocity, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>linearVelocity</strong>: the linear velocity (vx, vy, vz) (output). Can be null.</div>
<div><strong>angularVelocity</strong>: the angular velocity (dAlpha, dBeta, dGamma) (output). Can be null.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetObjectVelocity">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetObjectVelocity">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetObjectVelocity">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetObjectVelocity">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetObjectVelocity">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetOutMessageInfo" id="simxGetOutMessageInfo"></a>simxGetOutMessageInfo</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr><div>Retrieves information about the next message to send to the server. This is a remote API helper function. See also <a href="#simxGetInMessageInfo">simxGetInMessageInfo</a>.</div></td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetOutMessageInfo(int clientID,int infoType, <a href="#IntW">IntW</a> info)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>infoType</strong>: an <a href="remoteApiConstants.htm#outboxMessageInfoType">outbox message info type</a></div>
<div><strong>info</strong>: the requested information (output)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>-1 in case of an error</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetOutMessageInfo">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetOutMessageInfo">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetOutMessageInfo">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetOutMessageInfo">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetOutMessageInfo">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetPingTime" id="simxGetPingTime"></a>simxGetPingTime</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the time needed for a command to be sent to the server, executed, and sent back. That time depends on various factors like the client settings, the network load, whether a simulation is running, whether the simulation is real-time, the simulation time step, etc. The function is blocking. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetPingTime(int clientID,<a href="#IntW">IntW</a> pingTime)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>pingTime</strong>: the ping time in milliseconds (output)</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetPingTime">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetPingTime">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetPingTime">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetPingTime">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetPingTime">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetStringParameter" id="simxGetStringParameter"></a>simxGetStringParameter (regular API equivalent: <a href="regularApi/simGetStringParameter.htm">sim.getStringParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves a string value. See the <a href="apiConstants.htm#stringParameters">string parameter identifiers</a>. See also <a href="#simxGetBooleanParameter">simxGetBooleanParameter</a>, <a href="#simxGetIntegerParameter">simxGetIntegerParameter</a>, <a href="#simxGetArrayParameter">simxGetArrayParameter</a> and <a href="#simxGetFloatingParameter">simxGetFloatingParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetStringParameter(int clientID,int paramIdentifier,<a href="#StringW">StringW</a> paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: a <a href="apiConstants.htm#stringParameters">string parameter identifier</a></div>
<div><strong>paramValue</strong>: the string (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetStringParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetStringParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetStringParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetStringParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetStringParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetStringSignal" id="simxGetStringSignal"></a>simxGetStringSignal (regular API equivalent: <a href="regularApi/simGetStringSignal.htm">sim.getStringSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Gets the value of a string signal. Signals are cleared at simulation start. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxSetStringSignal">simxSetStringSignal</a>, <a href="#simxClearStringSignal">simxClearStringSignal</a>, <a href="#simxGetIntegerSignal">simxGetIntegerSignal</a> and <a href="#simxGetFloatSignal">simxGetFloatSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetStringSignal(int clientID,final String signalName, <a href="#CharWA">CharWA</a> signalValue, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: the value of the signal, which might contain any values, including embedded zeros (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetStringSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetStringSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetStringSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetStringSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetStringSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetUIButtonProperty" id="simxGetUIButtonProperty"></a>simxGetUIButtonProperty (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetUIEventButton" id="simxGetUIEventButton"></a>simxGetUIEventButton (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetUIHandle" id="simxGetUIHandle"></a>simxGetUIHandle (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetUISlider" id="simxGetUISlider"></a>simxGetUISlider (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetVisionSensorDepthBuffer" id="simxGetVisionSensorDepthBuffer"></a>simxGetVisionSensorDepthBuffer (regular API equivalent: <a href="regularApi/simGetVisionSensorDepthBuffer.htm">sim.getVisionSensorDepthBuffer</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the depth buffer of a vision sensor. The returned data doesn't make sense if <a href="regularApi/simHandleVisionSensor.htm">sim.handleVisionSensor</a> wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the <a href="#simxGetLastCmdTime">simxGetLastCmdTime</a> function to verify the &quot;freshness&quot; of the retrieved data. See also <a href="#simxGetVisionSensorImage">simxGetVisionSensorImage</a>.</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetVisionSensorDepthBuffer(int clientID,int sensorHandle,<a href="#IntWA">IntWA</a> resolution,<a href="#FloatWA">FloatWA</a> buffer,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>sensorHandle</strong>: handle of the vision sensor</div>
<div><strong>resolution</strong>: the resolution of the image (output)</div>
<div><strong>buffer</strong>: the depth buffer data (output). Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetVisionSensorDepthBuffer">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetVisionSensorDepthBuffer">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetVisionSensorDepthBuffer">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetVisionSensorDepthBuffer">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetVisionSensorDepthBuffer">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxGetVisionSensorImage" id="simxGetVisionSensorImage"></a>simxGetVisionSensorImage (regular API equivalent: <a href="regularApi/simGetVisionSensorImage.htm">sim.getVisionSensorImage</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Retrieves the image of a vision sensor. The returned data doesn't make sense if <a href="regularApi/simHandleVisionSensor.htm">sim.handleVisionSensor</a> wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the <a href="#simxGetLastCmdTime">simxGetLastCmdTime</a> function to verify the &quot;freshness&quot; of the retrieved data. See also <a href="#simxSetVisionSensorImage">simxSetVisionSensorImage</a>, <a href="#simxGetVisionSensorDepthBuffer">simxGetVisionSensorDepthBuffer</a> and <a href="#simxReadVisionSensor">simxReadVisionSensor</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxGetVisionSensorImage(int clientID,int sensorHandle, <a href="#IntWA">IntWA</a> resolution, <a href="#CharWA">CharWA</a> image, int options, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>sensorHandle</strong>: handle of the vision sensor</div>
<div><strong>resolution</strong>: the resolution of the image (output)</div>
<div><strong>image</strong>: the image data (output). </div>
<div><strong>options</strong>: image options, bit-coded:</div>
<div class=tab>bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetVisionSensorImage">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetVisionSensorImage">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetVisionSensorImage">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetVisionSensorImage">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetVisionSensorImage">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxJointGetForce" id="simxJointGetForce"></a>simxJointGetForce (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Refer to <a href="#simxGetJointForce">simxGetJointForce</a> instead.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxJointGetForce(int clientID,int jointHandle,<a href="#FloatW">FloatW</a> force,int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>force</strong>: the force or the torque applied to the joint  along/about its z-axis
(output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxGetJointForce">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxGetJointForce">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxGetJointForce">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxGetJointForce">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxGetJointForce">Lua</a></td> 
</tr> 
</table> 
<br>
















<h3 class=subsectionBar><a name="simxLoadModel" id="simxLoadModel"></a>simxLoadModel (regular API equivalent: <a href="regularApi/simLoadModel.htm">sim.loadModel</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Loads a previously saved model. See also <a href="#simxLoadScene">simxLoadScene</a> and <a href="#simxTransferFile">simxTransferFile</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxLoadModel(int clientID,final String modelPathAndName, int options, <a href="#IntW">IntW</a> baseHandle, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>modelPathAndName</strong>: the model filename, including the path and extension ("ttm"). The file is relative to the client or server system depending on the <strong>options</strong> value (see next argument)</div>
<div><strong>options</strong>: options, bit-coded:</div>
<div class=tab>bit0 set: the specified file is located on the client side (in that case the function will be blocking since the model first has to be transferred to the server). Otherwise it is located on the server side</div>
<div><strong>baseHandle</strong>: the loaded model base (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxLoadModel">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxLoadModel">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxLoadModel">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxLoadModel">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxLoadModel">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxLoadScene" id="simxLoadScene"></a>simxLoadScene (regular API equivalent: <a href="regularApi/simLoadScene.htm">sim.loadScene</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Loads a previously saved scene. Should only be called when simulation is not running and is only executed by <a href="remoteApiServerSide.htm#continuousRemoteApiService">continuous remote API server services</a>. See also <a href="#simxCloseScene">simxCloseScene</a>, <a href="#simxLoadModel">simxLoadModel</a>, and <a href="#simxTransferFile">simxTransferFile</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxLoadScene(int clientID,final String scenePathAndName, int options, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>scenePathAndName</strong>: the scene filename, including the path and extension ("ttt"). The file is relative to the client or server system depending on the <strong>options</strong> value (see next argument)</div>
<div><strong>options</strong>: options, bit-coded:</div>
<div class=tab>bit0 set: the specified file is located on the client side (in that case the function will be blocking since the scene first has to be transferred to the server). Otherwise it is located on the server side</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxLoadScene">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxLoadScene">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxLoadScene">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxLoadScene">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxLoadScene">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxLoadUI" id="simxLoadUI"></a>simxLoadUI (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxPauseCommunication" id="simxPauseCommunication"></a>simxPauseCommunication</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Allows to temporarily halt the communication thread from sending data. This can be useful if you need to send several values to CoppeliaSim that should be received and evaluated at the same time. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxPauseCommunication(int clientID,boolean pause)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>pause</strong>: whether the communication thread should pause or run normally.
</div>

<br>
<div>Usage example:</div>
<pre class=lightPurpleBoxNoMarginAndSmall>
sim.simxPauseCommunication(clientID,true);
sim.simxSetJointPosition(clientID,joint1Handle,joint1Value,sim.simx_opmode_oneshot);
sim.simxSetJointPosition(clientID,joint2Handle,joint2Value,sim.simx_opmode_oneshot);
sim.simxSetJointPosition(clientID,joint3Handle,joint3Value,sim.simx_opmode_oneshot);
sim.simxPauseCommunication(clientID,false);

// Above's 3 joints will be received and set on the CoppeliaSim side at the same time</pre>


</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>0 in case of operation success.<a href="remoteApiConstants.htm#functionErrorCodes"></a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxPauseCommunication">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxPauseCommunication">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxPauseCommunication">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxPauseCommunication">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxPauseCommunication">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxPauseSimulation" id="simxPauseSimulation"></a>simxPauseSimulation (regular API equivalent: <a href="regularApi/simPauseSimulation.htm">sim.pauseSimulation</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Requests a pause of a simulation. See also <a href="#simxStartSimulation">simxStartSimulation</a> and <a href="#simxStopSimulation">simxStopSimulation</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxPauseSimulation(int clientID,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function is simx_opmode_oneshot.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxPauseSimulation">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxPauseSimulation">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxPauseSimulation">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxPauseSimulation">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxPauseSimulation">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar>
<a name="simxQuery" id="simxQuery"></a>simxQuery
</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Refer to <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.<br><br>Sends a query string to CoppeliaSim, and waits for a reply string. Query and reply strings can be accessed via string signals<a href="#simxGetFloatSignal"></a>. This function allows for instance to have a <a href="childScripts.htm">child script</a>, another remote API client or a <a href="rosInterfaces.htm">ROS node</a> handle special requests coming from this remote API client, then send a reply back. To pack/unpack integers/floats into/from a <a href="#CharWA">CharWA</a>, refer to <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>.
<br>
<br>

<div>Usage example where a child script handles a request:</div>
<pre class=lightPurpleBoxNoMarginAndSmall>
// Following is the remote API client side:
CharWA replyData=new CharWA(1);
if (sim.simxQuery(clientID,"request","send me a 42","reply",replyData,5000)==0)
    System.out.format(&quot;The reply is: %s\n&quot;,replyData.getValue());</pre>

<br>
<pre class=lightRedBoxNoMarginAndSmall>
-- This is the child script side. The child script is non-threaded and
-- following part executed at each simulation pass:
req=sim.getStringSignal("request")
if (req) then
    sim.clearStringSignal("request")
    if (req=="send me a 42") then
        sim.setStringSignal("reply","42\0") -- will be automatically cleared by the client
    end
end
</pre>


</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxQuery(int clientID,final String signalName, final String signalValue,final String retSignalName, <a href="#StringW">StringW</a> retSignalValue, int timeOutInMs)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal that contains the request string</div>
<div><strong>signalValue</strong>: the request string. </div>
<div><strong>retSignalName</strong>: name of the signal that contains the reply string</div>
<div><strong>retSignalValue</strong>: the reply string</div>
<div><strong>timeOutInMs</strong>: the maximum time in milliseconds that the function will wait for a reply.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxQuery">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxQuery">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxQuery">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxQuery">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxQuery">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadCollision" id="simxReadCollision"></a>simxReadCollision (regular API equivalent: <a href="regularApi/simReadCollision.htm">sim.readCollision</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Reads the collision state of a registered collision object. This function doesn't perform collision detection, it merely reads the result from a previous call to <a href="regularApi/simHandleCollision.htm">sim.handleCollision</a> (sim.handleCollision is called in the default main script). See also <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadCollision(int clientID,int collisionObjectHandle,<a href="#BoolW">BoolW</a> collisionState,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>collisionObjectHandle</strong>: handle of the collision object</div>
<div><strong>collisionState</strong>: the collision state (output)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadCollision">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadCollision">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadCollision">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadCollision">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadCollision">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadDistance" id="simxReadDistance"></a>simxReadDistance (regular API equivalent: <a href="regularApi/simReadDistance.htm">sim.readDistance</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Reads the distance that a  registered distance object measured. This function doesn't perform minimum distance calculation, it merely reads the result from a previous call to <a href="regularApi/simHandleDistance.htm">sim.handleDistance</a> (sim.handleDistance is called in the default main script). See also <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadDistance(int clientID,int distanceObjectHandle,<a href="#FloatW">FloatW</a> minimumDistance,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>distanceObjectHandle</strong>: handle of the distance object</div>
<div><strong>minimumDistance</strong>: the minimum distance (output).  If the distance object wasn't handled yet, the distance value will be larger than 1e36.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadDistance">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadDistance">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadDistance">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadDistance">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadDistance">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadForceSensor" id="simxReadForceSensor"></a>simxReadForceSensor (regular API equivalent: <a href="regularApi/simReadForceSensor.htm">sim.readForceSensor</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken'). See also <a href="#simxBreakForceSensor">simxBreakForceSensor</a>, <a href="#simxGetJointForce">simxGetJointForce</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadForceSensor(int clientID,int forceSensorHandle,<a href="#IntWA">IntWA</a> state,<a href="#FloatWA">FloatWA</a> forceVector,<a href="#FloatWA">FloatWA</a> torqueVector,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>forceSensorHandle</strong>: handle of the force sensor</div>
<div><strong>state</strong>: the state of the force sensor (output). Can be null</div>
<div class=tab>bit 0 set: force and torque data is available, otherwise it is not (yet) available (e.g. when not enough values are present for the filter)</div>
<div class=tab>bit 1 set: force sensor is broken, otherwise it is still intact ('unbroken')</div>
<div><strong>forceVector</strong>: the force vector (output). Can be null</div>
<div><strong>torqueVector</strong>: the torque vector (output). Can be null</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadForceSensor">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadForceSensor">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadForceSensor">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadForceSensor">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadForceSensor">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadProximitySensor" id="simxReadProximitySensor"></a>simxReadProximitySensor (regular API equivalent: <a href="regularApi/simReadProximitySensor.htm">sim.readProximitySensor</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to <a href="regularApi/simHandleProximitySensor.htm">sim.handleProximitySensor</a> (sim.handleProximitySensor is called in the default main script). See also <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadProximitySensor(int clientID,int sensorHandle, <a href="#BoolW">BoolW</a> detectionState, <a href="#FloatWA">FloatWA</a> detectedPoint, <a href="#IntW">IntW</a> detectedObjectHandle, <a href="#FloatWA">FloatWA</a> detectedSurfaceNormalVector,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>sensorHandle</strong>: handle of the proximity sensor</div>
<div><strong>detectionState</strong>: the detection state (output). Can be null.</div>
<div><strong>detectedPoint</strong>: the detected point coordinates (relative to the sensor reference frame) (output). Can be null.</div>
<div><strong>detectedObjectHandle</strong>: the handle of the detected object (output). Can be null.</div>
<div><strong>detectedSurfaceNormalVector</strong>: the normal vector (normalized) of the detected surface (output). Relative to the sensor reference frame. Can be null.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadProximitySensor">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadProximitySensor">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadProximitySensor">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadProximitySensor">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadProximitySensor">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadStringStream" id="simxReadStringStream"></a>simxReadStringStream</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Gets the value of a string signal, then clears it.  Useful to retrieve continuous data from the server. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxWriteStringStream">simxWriteStringStream</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadStringStream(int clientID,final String signalName, <a href="#CharWA">CharWA</a> signalValue, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: the value of the signal, which might contain any values, including embedded zeros (output).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>.Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls). simx_opmode_blocking is forbidden. Use a construction like following in order to continuously exchange data with CoppeliaSim:</div>

<br>
Remote API client side:
<pre class=lightPurpleBoxNoMarginAndSmall>
// Initialization phase:
CharWA str=new CharWA(1);
sim.simxReadStringStream(clientID,&quot;toClient&quot;,str,sim.simx_opmode_streaming);

// while we are connected:
while (sim.simxGetConnectionId(clientID)!=-1)
{ 
  if (sim.simxReadStringStream(clientID,&quot;toClient&quot;,str,sim.simx_opmode_buffer)==
  		simx_return_ok)
  { 
    // Data produced by the child script was retrieved! Send it back to the child script:
    sim.simxWriteStringStream(clientID,&quot;fromClient&quot;,str,sim.simx_opmode_oneshot);
  }
}</pre>

<br>
Server side (CoppeliaSim), from a non-threaded child script:
<pre class=lightRedBoxNoMarginAndSmall>
function sysCall_init()
    -- initialization phase:
    i=0
    lastReceived=-1
end

function sysCall_actuation()
    -- First send a stream of integers that count up:
    dat=sim.getStringSignal('toClient')
    if not dat then
        dat=''
    end
    dat=dat..sim.packInt32Table({i})
    i=i+1
    sim.setStringSignal('toClient',dat)

    -- Here receive the integer stream in return and check if each number is correct:
    dat=sim.getStringSignal('fromClient')
    if dat then
        sim.clearStringSignal('fromClient')
        dat=sim.unpackInt32Table(dat)
        for j=1,#dat,1 do
            if (dat[j]~=lastReceived+1) then
                print('Error')
            else
                io.write('.')
                lastReceived=dat[j]
            end
        end
    end
end</pre>

</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadStringStream">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadStringStream">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadStringStream">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadStringStream">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadStringStream">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxReadVisionSensor" id="simxReadVisionSensor"></a>simxReadVisionSensor (regular API equivalent: <a href="regularApi/simReadVisionSensor.htm">sim.readVisionSensor</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Reads the state of a vision sensor. This function doesn't perform detection, it merely reads the result from a previous call to <a href="regularApi/simHandleVisionSensor.htm">sim.handleVisionSensor</a> (sim.handleVisionSensor is called in the default main script). See also <a href="#simxGetVisionSensorImage">simxGetVisionSensorImage</a> and <a href="#simxGetObjectGroupData">simxGetObjectGroupData</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxReadVisionSensor(int clientID,int sensorHandle,<a href="#BoolW">BoolW</a> detectionState, <a href="#FloatWAA">FloatWAA</a> auxValues, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>sensorHandle</strong>: handle of the vision sensor</div>
<div><strong>detectionState</strong>: the detection state (i.e. the trigger state) (output). Can be null</div>
<div><strong>auxValues</strong>: by default CoppeliaSim returns one packet of 15 auxiliary values:the minimum of {intensity, red, green, blue, depth value}, the maximum of {intensity, red, green, blue, depth value}, and the average of {intensity, red, green, blue, depth value}. Additional packets can be appended in the <a href="visionCallbackFunctions.htm">vision callback function</a>.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxReadVisionSensor">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxReadVisionSensor">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxReadVisionSensor">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxReadVisionSensor">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxReadVisionSensor">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxRemoveModel" id="simxRemoveModel"></a>simxRemoveModel (regular API equivalent: <a href="regularApi/simRemoveModel.htm">sim.removeModel</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Removes a model from the scene. See also <a href="#simxRemoveObject">simxRemoveObject</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxRemoveModel(int clientID,int objectHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the model to remove (object should be flagged as <em>model base</em>).</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_blocking)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxRemoveModel">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxRemoveModel">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxRemoveModel">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxRemoveModel">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxRemoveModel">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxRemoveObject" id="simxRemoveObject"></a>simxRemoveObject (regular API equivalent: <a href="regularApi/simRemoveObject.htm">sim.removeObject</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Removes a scene object. See also <a href="#simxRemoveModel">simxRemoveModel</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxRemoveObject(int clientID,int objectHandle,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object to remove</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_blocking)
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxRemoveObject">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxRemoveObject">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxRemoveObject">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxRemoveObject">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxRemoveObject">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxRemoveUI" id="simxRemoveUI"></a>simxRemoveUI (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetArrayParameter" id="simxSetArrayParameter"></a>simxSetArrayParameter (regular API equivalent: <a href="regularApi/simSetArrayParameter.htm">sim.setArrayParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets 3 values of an <a href="apiConstants.htm#arrayParameters">array parameter</a>. See also <a href="#simxGetArrayParameter">simxGetArrayParameter</a>, <a href="#simxSetBooleanParameter">simxSetBooleanParameter</a>, <a href="#simxSetIntegerParameter">simxSetIntegerParameter</a> and <a href="#simxSetFloatingParameter">simxSetFloatingParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetArrayParameter(int clientID,int paramIdentifier,<a href="#FloatWA">FloatWA</a> paramValues,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: an <a href="apiConstants.htm#arrayParameters">array parameter identifier</a></div>
<div><strong>paramValues</strong>: the array containing the 3 values to set</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetArrayParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetArrayParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetArrayParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetArrayParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetArrayParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetBooleanParameter" id="simxSetBooleanParameter"></a>simxSetBooleanParameter (regular API equivalent: <a href="regularApi/simSetBoolParameter.htm">sim.setBoolParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets a <a href="apiConstants.htm#booleanParameters">boolean parameter</a>. See also <a href="#simxGetBooleanParameter">simxGetBooleanParameter</a>, <a href="#simxSetIntegerParameter">simxSetIntegerParameter</a>, <a href="#simxSetArrayParameter">simxSetArrayParameter</a> and <a href="#simxSetFloatingParameter">simxSetFloatingParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetBooleanParameter(int clientID,int paramIdentifier,boolean paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: a <a href="apiConstants.htm#booleanParameters">Boolean parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetBooleanParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetBooleanParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetBooleanParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetBooleanParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetBooleanParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetFloatingParameter" id="simxSetFloatingParameter"></a>simxSetFloatingParameter (regular API equivalent: <a href="regularApi/simSetFloatParameter.htm">sim.setFloatParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets a <a href="apiConstants.htm#floatingParameters">floating point parameter</a>. See also <a href="#simxGetFloatingParameter">simxGetFloatingParameter</a>, <a href="#simxSetBooleanParameter">simxSetBooleanParameter</a>, <a href="#simxSetArrayParameter">simxSetArrayParameter</a> and <a href="#simxSetIntegerParameter">simxSetIntegerParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetFloatingParameter(int clientID,int paramIdentifier,float paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: a <a href="apiConstants.htm#floatingParameters">floating parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetFloatingParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetFloatingParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetFloatingParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetFloatingParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetFloatingParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetFloatSignal" id="simxSetFloatSignal"></a>simxSetFloatSignal (regular API equivalent: <a href="regularApi/simSetDoubleSignal.htm">sim.setDoubleSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the value of a float signal. If that signal is not yet present, it is added. See also <a href="#simxGetFloatSignal">simxGetFloatSignal</a>, <a href="#simxClearFloatSignal">simxClearFloatSignal</a>, <a href="#simxSetIntegerSignal">simxSetIntegerSignal</a> and <a href="#simxSetStringSignal">simxSetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetFloatSignal(int clientID,final String signalName,float signalValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: value of the signal</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetFloatSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetFloatSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetFloatSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetFloatSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetFloatSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetIntegerParameter" id="simxSetIntegerParameter"></a>simxSetIntegerParameter (regular API equivalent: <a href="regularApi/simSetInt32Parameter.htm">sim.setInt32Parameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets an <a href="apiConstants.htm#integerParameters">integer parameter</a>. See also <a href="#simxGetIntegerParameter">simxGetIntegerParameter</a>, <a href="#simxSetBooleanParameter">simxSetBooleanParameter</a>, <a href="#simxSetArrayParameter">simxSetArrayParameter</a> and <a href="#simxSetFloatingParameter">simxSetFloatingParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetIntegerParameter(int clientID,int paramIdentifier,int paramValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>paramIdentifier</strong>: an <a href="apiConstants.htm#integerParameters">integer parameter identifier</a></div>
<div><strong>paramValue</strong>: the parameter value</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetIntegerParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetIntegerParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetIntegerParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetIntegerParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetIntegerParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetIntegerSignal" id="simxSetIntegerSignal"></a>simxSetIntegerSignal (regular API equivalent: <a href="regularApi/simSetIntegerSignal.htm">sim.setIntegerSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the value of an integer signal. If that signal is not yet present, it is added. See also <a href="#simxGetIntegerSignal">simxGetIntegerSignal</a>, <a href="#simxClearIntegerSignal">simxClearIntegerSignal</a>, <a href="#simxSetFloatSignal">simxSetFloatSignal</a> and <a href="#simxSetStringSignal">simxSetStringSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetIntegerSignal(int clientID,final String signalName,int signalValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: value of the signal</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetIntegerSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetIntegerSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetIntegerSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetIntegerSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetIntegerSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetJointMaxForce" id="simxSetJointMaxForce"></a>simxSetJointMaxForce (regular API equivalent: <a href="regularApi/simSetJointMaxForce.htm">sim.setJointMaxForce</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the maximum force or torque that a joint can exert. This function has no effect when the joint is not dynamically enabled, or when it is a spherical joint. See also <a href="#simxGetJointMaxForce">simxGetJointMaxForce</a> and See also <a href="#simxGetJointForce">simxGetJointForce</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetJointMaxForce(int clientID,int jointHandle,float force,int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>force</strong>: the maximum force or torque that the joint can exert
</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetJointMaxForce">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetJointMaxForce">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetJointMaxForce">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetJointMaxForce">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetJointMaxForce">Lua</a></td> 
</tr> 
</table> 
<br>























<h3 class=subsectionBar><a name="simxSetJointPosition" id="simxSetJointPosition"></a>simxSetJointPosition (regular API equivalent: <a href="regularApi/simSetJointPosition.htm">sim.setJointPosition</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the intrinsic position of a joint. May have no effect depending on the joint mode. This function cannot be used with spherical joints (use <a href="#simxSetSphericalJointMatrix">simxSetSphericalJointMatrix</a> instead). If you want to set several joints that should be applied at the exact same time on the CoppeliaSim side, then use <a href="#simxPauseCommunication">simxPauseCommunication</a>. See also <a href="#simxGetJointPosition">simxGetJointPosition</a> and <a href="#simxSetJointTargetPosition">simxSetJointTargetPosition</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetJointPosition(int clientID,int jointHandle, float position, int operationMode)<br></td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>position</strong>: position of the joint (angular or linear value depending on the joint type)
</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_oneshot or 
simx_opmode_streaming</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetJointPosition">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetJointPosition">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetJointPosition">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetJointPosition">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetJointPosition">Lua</a></td> 
</tr> 
</table> 
<br>











<h3 class=subsectionBar><a name="simxSetJointTargetPosition" id="simxSetJointTargetPosition"></a>simxSetJointTargetPosition (regular API equivalent: <a href="regularApi/simSetJointTargetPosition.htm">sim.setJointTargetPosition</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the target position of a joint if the joint is in torque/force mode (also make sure that the joint's motor and position control are enabled). See also <a href="#simxSetJointPosition">simxSetJointPosition</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetJointTargetPosition(int clientID,int jointHandle,float targetPosition,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>targetPosition</strong>: target position of the joint (angular or linear value depending on the joint type)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_oneshot or 
simx_opmode_streaming
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetJointTargetPosition">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetJointTargetPosition">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetJointTargetPosition">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetJointTargetPosition">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetJointTargetPosition">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetJointTargetVelocity" id="simxSetJointTargetVelocity"></a>simxSetJointTargetVelocity (regular API equivalent: <a href="regularApi/simSetJointTargetVelocity.htm">sim.setJointTargetVelocity</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the intrinsic target velocity of a non-spherical joint. This command makes only sense when the joint mode is in torque/force mode: the dynamics functionality and the joint motor have to be enabled (position control should however be disabled)</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetJointTargetVelocity(int clientID,int jointHandle,float targetVelocity,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>targetVelocity</strong>: target velocity of the joint (linear or angular velocity depending on the joint-type)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_oneshot or 
simx_opmode_streaming
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetJointTargetVelocity">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetJointTargetVelocity">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetJointTargetVelocity">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetJointTargetVelocity">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetJointTargetVelocity">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetModelProperty" id="simxSetModelProperty"></a>simxSetModelProperty (regular API equivalent: <a href="regularApi/simSetModelProperty.htm">sim.setModelProperty</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the properties of a model. See also <a href="#simxGetModelProperty">simxGetModelProperty</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetModelProperty(int clientID,int objectHandle,int prop,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>prop</strong>: a <a href="apiConstants.htm#modelProperties">model property value</a></div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetModelProperty">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetModelProperty">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetModelProperty">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetModelProperty">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetModelProperty">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectFloatParameter" id="simxSetObjectFloatParameter"></a>simxSetObjectFloatParameter (regular API equivalent: <a href="regularApi/simSetObjectFloatParameter.htm">sim.setObjectFloatParameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets a floating-point parameter of a object. See also <a href="#simxGetObjectFloatParameter">simxGetObjectFloatParameter</a> and <a href="#simxSetObjectIntParameter">simxSetObjectIntParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectFloatParameter(int clientID,int objectHandle,int parameterID,float parameterValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>parameterID</strong>: identifier of the parameter to set. See the <a href="objectParameterIDs.htm">list of all possible object parameter identifiers</a></div>
<div><strong>parameterValue</strong>: the desired value of the parameter</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectFloatParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectFloatParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectFloatParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectFloatParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectFloatParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectIntParameter" id="simxSetObjectIntParameter"></a>simxSetObjectIntParameter (regular API equivalent: <a href="regularApi/simSetObjectInt32Parameter.htm">sim.setObjectInt32Parameter</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets an integer parameter of a object. See also <a href="#simxGetObjectIntParameter">simxGetObjectIntParameter</a> and <a href="#simxSetObjectFloatParameter">simxSetObjectFloatParameter</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectIntParameter(int clientID,int objectHandle,int parameterID,int parameterValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>parameterID</strong>: identifier of the parameter to set. See the <a href="objectParameterIDs.htm">list of all possible object parameter identifiers</a></div>
<div><strong>parameterValue</strong>: the desired value of the parameter</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectIntParameter">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectIntParameter">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectIntParameter">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectIntParameter">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectIntParameter">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectOrientation" id="simxSetObjectOrientation"></a>simxSetObjectOrientation (regular API equivalent: <a href="regularApi/simSetObjectOrientation.htm">sim.setObjectOrientation</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the orientation (<a href="eulerAngles.htm">Euler angles</a>) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling <a href="regularApi/simResetDynamicObject.htm">sim.resetDynamicObject</a> just before). See also <a href="#simxGetObjectOrientation">simxGetObjectOrientation</a>, <a href="#simxSetObjectQuaternion">simxSetObjectQuaternion</a> and <a href="#simxSetObjectPosition">simxSetObjectPosition</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectOrientation(int clientID,int objectHandle,int relativeToObjectHandle,<a href="#FloatWA">FloatWA</a> eulerAngles,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame the orientation is specified. Specify -1 to set the absolute orientation, sim_handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified.</div>
<div><strong>eulerAngles</strong>: Euler angles (alpha, beta and gamma)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectOrientation">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectOrientation">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectOrientation">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectOrientation">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectOrientation">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectParent" id="simxSetObjectParent"></a>simxSetObjectParent (regular API equivalent: <a href="regularApi/simSetObjectParent.htm">sim.setObjectParent</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets an object's parent object. See also <a href="#simxGetObjectParent">simxGetObjectParent</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectParent(int clientID,int objectHandle,int parentObject,boolean keepInPlace,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object that will become child of the parent object.  Can be combined with <a href="apiConstants.htm#specialHandleFlags">sim_handleflag_assembly</a>, if the two objects can be assembled via a predefined assembly transformation (refer to the <strong>assembling</strong> option in the <a href="commonPropertiesDialog.htm">object common properties</a>). In that case, <strong>parentObject</strong> can't be -1, and <strong>keepInPlace</strong> should be set to false.</div>
<div><strong>parentObject</strong>: handle of the object that will become parent, or -1 if the object should become parentless</div>
<div><strong>keepInPlace</strong>: indicates whether the object's absolute position and orientation should stay same</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_blocking depending on the intent
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectParent">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectParent">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectParent">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectParent">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectParent">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectPosition" id="simxSetObjectPosition"></a>simxSetObjectPosition (regular API equivalent: <a href="regularApi/simSetObjectPosition.htm">sim.setObjectPosition</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the position of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling  <a href="regularApi/simResetDynamicObject.htm">sim.resetDynamicObject</a> just before). See also <a href="#simxGetObjectPosition">simxGetObjectPosition</a>, <a href="#simxSetObjectQuaternion">simxSetObjectQuaternion</a> and <a href="#simxSetObjectOrientation">simxSetObjectOrientation</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectPosition(int clientID,int objectHandle, int relativeToObjectHandle, final <a href="#FloatWA">FloatWA</a> position, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame the position is specified. Specify -1 to set the absolute position, sim_handle_parent to set the position relative to the object's parent, or an object handle relative to whose reference frame the position is specified.</div>
<div><strong>position</strong>: the position values (x, y and z)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectPosition">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectPosition">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectPosition">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectPosition">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectPosition">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectQuaternion" id="simxSetObjectQuaternion"></a>simxSetObjectQuaternion (regular API equivalent: <a href="regularApi/simSetObjectQuaternion.htm">sim.setObjectQuaternion</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the orientation of an object as quaternion. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling  <a href="regularApi/simResetDynamicObject.htm">sim.resetDynamicObject</a> just before). See also <a href="#simxGetObjectQuaternion">simxGetObjectQuaternion</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectQuaternion(int clientID,int objectHandle, int relativeToObjectHandle, final <a href="#FloatWA">FloatWA</a> quat, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandle</strong>: handle of the object</div>
<div><strong>relativeToObjectHandle</strong>: indicates relative to which reference frame the quaternion is specified. Specify -1 to set the absolute quaternion, sim_handle_parent to set the quaternion relative to the object's parent, or an object handle relative to whose reference frame the quaternion is specified.</div>
<div><strong>quat</strong>: the quaternion values (x, y, z, w)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectQuaternion">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectQuaternion">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectQuaternion">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectQuaternion">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectQuaternion">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetObjectSelection" id="simxSetObjectSelection"></a>simxSetObjectSelection</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the selection state for objects. See also <a href="#simxGetObjectSelection">simxGetObjectSelection</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetObjectSelection(int clientID,<a href="#IntWA">IntWA</a> objectHandles, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>objectHandles</strong>: an array of object handles</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_blocking depending on the intent.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetObjectSelection">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetObjectSelection">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetObjectSelection">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetObjectSelection">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetObjectSelection">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetSphericalJointMatrix" id="simxSetSphericalJointMatrix"></a>simxSetSphericalJointMatrix (regular API equivalent: <a href="regularApi/simSetSphericalJointMatrix.htm">sim.setSphericalJointMatrix</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use <a href="#simxSetJointPosition">simxSetJointPosition</a> instead). See also <a href="#simxGetJointMatrix">simxGetJointMatrix</a>..</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetSphericalJointMatrix(int clientID,int jointHandle,<a href="#FloatWA">FloatWA</a> matrix,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>jointHandle</strong>: handle of the joint</div>
<div><strong>matrix</strong>: array of 12 valuesvalues. See the regular API equivalent function for details</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function are simx_opmode_oneshot or 
simx_opmode_streaming
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetSphericalJointMatrix">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetSphericalJointMatrix">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetSphericalJointMatrix">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetSphericalJointMatrix">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetSphericalJointMatrix">Lua</a></td> 
</tr> 
</table> 
<br>











<h3 class=subsectionBar><a name="simxSetStringSignal" id="simxSetStringSignal"></a>simxSetStringSignal (regular API equivalent: <a href="regularApi/simSetStringSignal.htm">sim.setStringSignal</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the value of a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxGetStringSignal">simxGetStringSignal</a>, <a href="#simxClearStringSignal">simxClearStringSignal</a>, <a href="#simxSetIntegerSignal">simxSetIntegerSignal</a> and <a href="#simxSetFloatSignal">simxSetFloatSignal</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetStringSignal(int clientID,final String signalName, final CharWA signalValue,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValue</strong>: value of the signal (which may contain any value, including embedded zeros)</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetStringSignal">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetStringSignal">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetStringSignal">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetStringSignal">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetStringSignal">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetUIButtonLabel" id="simxSetUIButtonLabel"></a>simxSetUIButtonLabel (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetUIButtonProperty" id="simxSetUIButtonProperty"></a>simxSetUIButtonProperty (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetUISlider" id="simxSetUISlider"></a>simxSetUISlider (DEPRECATED)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>DEPRECATED. Use the <a href="customUIPlugin.htm">Qt-based custom user interfaces</a>, via <a href="#simxCallScriptFunction">simxCallScriptFunction</a> instead.</td>
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSetVisionSensorImage" id="simxSetVisionSensorImage"></a>simxSetVisionSensorImage (regular API equivalent: <a href="regularApi/simSetVisionSensorImage.htm">sim.setVisionSensorImage</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sets the image of a vision sensor (and applies any image processing, if enabled). Make sure the vision sensor is flagged as <strong>use external image</strong>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSetVisionSensorImage(int clientID,int sensorHandle, <a href="#CharWA">CharWA</a> image, int bufferSize, char options, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>sensorHandle</strong>: handle of the vision sensor</div>
<div><strong>image</strong>: pointer tothe image data</div>
<div><strong>bufferSize</strong>: size of the image data</div>
<div><strong>options</strong>: image options, bit-coded:</div>
<div class=tab>bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSetVisionSensorImage">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSetVisionSensorImage">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSetVisionSensorImage">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSetVisionSensorImage">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSetVisionSensorImage">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxStart" id="simxStart"></a>simxStart</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Starts a communication thread with the server (i.e. CoppeliaSim). A same client may start several communication threads  (but only one communication thread for a given IP and port). This should be the very first remote API function called on the client side. Make sure to start an appropriate remote API server service on the server side, that will wait for a connection. See also <a href="#simxFinish">simxFinish</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxStart(final String connectionAddress, int connectionPort, boolean waitUntilConnected, boolean doNotReconnectOnceDisconnected, int timeOutInMs, int commThreadCycleInMs)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>connectionAddress</strong>: the ip address where the server is located (i.e. CoppeliaSim)</div>
<div><strong>connectionPort</strong>: the port number where to connect.  Specify a negative port number in order to use shared memory, instead of socket communication.</div>
<div><strong>waitUntilConnected</strong>: if different from zero, then the function blocks until connected (or timed out).</div>
<div><strong>doNotReconnectOnceDisconnected</strong>: if different from zero, then the communication thread will not attempt a second connection if a connection was lost.</div>
<div><strong>timeOutInMs</strong>:</div>
<div class=tab> if positive: the connection time-out in milliseconds for the first connection attempt. In that case, the time-out for blocking function calls is 5000 milliseconds.</div>
<div class=tab> if negative: its positive value is the time-out for blocking function calls. In that case, the connection time-out for the first connection attempt is 5000 milliseconds.</div>
<div><strong>commThreadCycleInMs</strong>: indicates how often data packets are sent back and forth. Reducing this number improves responsiveness, and a default value of 5 is recommended.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>the client ID, or -1 if the connection to the server was not possible (i.e. a timeout was reached). A call to simxStart should always be followed at the end with a call to <a href="#simxFinish">simxFinish</a> if simxStart didn't return -1</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxStart">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxStart">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxStart">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxStart">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxStart">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxStartSimulation" id="simxStartSimulation"></a>simxStartSimulation (regular API equivalent: <a href="regularApi/simStartSimulation.htm">sim.startSimulation</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Requests a start of a simulation (or a resume of a paused simulation). This function is only executed by <a href="remoteApiServerSide.htm#continuousRemoteApiService">continuous remote API server services</a>. See also <a href="#simxPauseSimulation">simxPauseSimulation</a> and <a href="#simxStopSimulation">simxStopSimulation</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxStartSimulation(int clientID,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxStartSimulation">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxStartSimulation">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxStartSimulation">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxStartSimulation">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxStartSimulation">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxStopSimulation" id="simxStopSimulation"></a>simxStopSimulation (regular API equivalent: <a href="regularApi/simStopSimulation.htm">sim.stopSimulation</a>)</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Requests a stop of the running simulation. See also <a href="#simxStartSimulation">simxStartSimulation</a> and <a href="#simxPauseSimulation">simxPauseSimulation</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxStopSimulation(int clientID,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation modes for this function is simx_opmode_oneshot.
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxStopSimulation">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxStopSimulation">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxStopSimulation">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxStopSimulation">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxStopSimulation">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSynchronous" id="simxSynchronous"></a>simxSynchronous</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Enables or disables the synchronous operation mode for the remote API server service that the client is connected to. The function is blocking. While in synchronous operation mode, the client application is in charge of triggering the next simulation step. Only pre-enabled remote API server services will successfully execute this function. See also <a href="#simxSynchronousTrigger">simxSynchronousTrigger</a> and <a href="remoteApiModusOperandi.htm#synchronous">this section</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSynchronous(int clientID,boolean enable)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>enable</strong>: the enable state of the synchronous operation</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSynchronous">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSynchronous">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSynchronous">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSynchronous">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSynchronous">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxSynchronousTrigger" id="simxSynchronousTrigger"></a>simxSynchronousTrigger</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Sends a synchronization  trigger signal to the server. The function is blocking. The server needs to be previously enabled for synchronous operation via the <a href="#simxSynchronous">simxSynchronous</a> function. The trigger signal will inform CoppeliaSim to execute the next simulation step (i.e. to call <a href="regularApi/simHandleMainScript.htm">simHandleMainScript</a>). While in synchronous operation mode, the client application is in charge of triggering the next simulation step, otherwise simulation will stall. See also <a href="remoteApiModusOperandi.htm#synchronous">this section</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxSynchronousTrigger(int clientID)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxSynchronousTrigger">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxSynchronousTrigger">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxSynchronousTrigger">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxSynchronousTrigger">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxSynchronousTrigger">Lua</a></td> 
</tr> 
</table> 
<br>













<h3 class=subsectionBar><a name="simxTransferFile" id="simxTransferFile"></a>simxTransferFile</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Allows transferring a file from the client to the server. This function is used by several other functions internally (e.g. <a href="#simxLoadModel">simxLoadModel</a>). See also <a href="#simxEraseFile">simxEraseFile</a>. This is a remote API helper function.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxTransferFile(int clientID,final String filePathAndName, final String fileName_serverSide, int timeOut, int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>filePathAndName</strong>: the local file name and path (i.e. on the client side)</div>
<div><strong>fileName_serverSide</strong>: a file name under which the transferred file will be saved on the server side. For now, do not specify a path (the file will be saved in the remote API plugin directory)</div>
<div><strong>timeOut</strong>: a timeout value in milliseconds</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_blocking
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxTransferFile">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxTransferFile">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxTransferFile">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxTransferFile">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxTransferFile">Lua</a></td> 
</tr> 
</table> 
<br>












<h3 class=subsectionBar><a name="simxWriteStringStream" id="simxWriteStringStream"></a>simxWriteStringStream</h3>
<table class=apiTable>
<tr class=apiTableTr> 
<td class=apiTableLeftDescr>
Description 
</td> 
<td class=apiTableRightDescr>Appends a string to a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to  <a href="#IntWA">IntWA</a> and <a href="#FloatWA">FloatWA</a>. See also <a href="#simxReadStringStream">simxReadStringStream</a>.</td>
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCSyn>
Java synopsis
</td> 
<td class=remApiTableRightCSyn>int simxWriteStringStream(int clientID,final String signalName, final CharWA signalValueToAppend,int operationMode)</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCParam>Java parameters</td> 
<td class=remApiTableRightCParam>
<div><strong>clientID</strong>: the client ID. refer to <a href="#simxStart">simxStart</a>.</div>
<div><strong>signalName</strong>: name of the signal</div>
<div><strong>signalValueToAppend</strong>: value to append to the  signal. That value may contain any value, including embedded zeros.</div>
<div><strong>operationMode</strong>: a <a href="remoteApiConstants.htm#operationModes">remote API function operation mode</a>. Recommended operation mode for this function is simx_opmode_oneshot
</div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftCRet>
Java return value
</td> 
<td class=remApiTableRightCRet>
<div>a <a href="remoteApiConstants.htm#functionErrorCodes">remote API function return code</a></div>
</td> 
</tr> 
<tr class=apiTableTr> 
<td class=remApiTableLeftLanguages>
Other languages
</td> 
<td class=remApiTableRightLanguages>
<a href="remoteApiFunctions.htm#simxWriteStringStream">C/C++</a>, <a href="remoteApiFunctionsPython.htm#simxWriteStringStream">Python</a>, <a href="remoteApiFunctionsMatlab.htm#simxWriteStringStream">Matlab</a>, <a href="remoteApiFunctionsOctave.htm#simxWriteStringStream">Octave</a>, <a href="remoteApiFunctionsLua.htm#simxWriteStringStream">Lua</a></td> 
</tr> 
</table> 
<br>

































<br>
<br>




<h3 class=subsectionBar><a name="BoolW" id="BoolW"></a>BoolW (helper class)</h3>
<pre class=lightPurpleBox>
class BoolW
{
    boolean w;
    public BoolW(boolean i) { w = i; }
    public void setValue(boolean i) { w = i; }
    public boolean getValue() { return w; }
}</pre>
<br>



<h3 class=subsectionBar><a name="BoolWA" id="BoolWA"></a>BoolWA (helper class)</h3>
<pre class=lightPurpleBox>
class BoolWA
{
    boolean w[];
    public BoolWA(int i) { w = new boolean[i]; }
    public void initArray(int i) { w = new boolean[i]; }
    public boolean[] getArray() { return w; }
    public int getLength() { return w.length; }
    public boolean[] getNewArray(int i)
    {
        w = new boolean[i];
        return w;
    }
}</pre>
<br>



<h3 class=subsectionBar><a name="CharW" id="CharW"></a>CharW (helper class)</h3>
<pre class=lightPurpleBox>
class CharW
{
    char w;
    public CharW(char c) { w = c; }
    public void setValue(char c) { w = c; }
    public char getValue() { return w; }
}</pre>
<br>




<h3 class=subsectionBar><a name="CharWA" id="CharWA"></a>CharWA (helper class)</h3>
<pre class=lightPurpleBox>
class CharWA
{
    char[] w;
    public CharWA(int i) { w = new char[i]; }
    public CharWA(String s) { w=s.toCharArray(); }
    public String getString()
    {
        String a;
        a = new String(w);
        return a;
    }
    public void initArray(int i) { w = new char[i]; }
    public char[] getArray() { return w; }
    public int getLength() { return w.length; }
    public char[] getNewArray(int i)
    {
        w = new char[i];
        return w;
    }
}</pre>
<br>



<h3 class=subsectionBar><a name="IntW" id="IntW"></a>IntW (helper class)</h3>
<pre class=lightPurpleBox>
class IntW
{
    int w;
    public IntW(int i) { w = i; }
    public void setValue(int i) { w = i; }
    public int getValue() { return w; }
}</pre>
<br>




<h3 class=subsectionBar><a name="IntWA" id="IntWA"></a>IntWA (helper class)</h3>
<pre class=lightPurpleBox>
class IntWA
{
    int[] w;
    public IntWA(int i) { w = new int[i]; }
    public void initArray(int i) { w = new int[i]; }
    public int getLength() { return w.length; }
    public int[] getArray() { return w; }
    public int[] getNewArray(int i)
    {
        w = new int[i];
        return w;
    }
    public char[] getCharArrayFromArray()
    {
        char[] a=new char[4*w.length];
        for (int i=0;i&lt;w.length;i++)
        {
            a[4*i+0]=(char)(w[i]&0xff);    
            a[4*i+1]=(char)((w[i] &gt;&gt;&gt; 8)&0xff);
            a[4*i+2]=(char)((w[i] &gt;&gt;&gt; 16)&0xff);
            a[4*i+3]=(char)((w[i] &gt;&gt;&gt; 24)&0xff);
        }
        return a;
    }
    public void initArrayFromCharArray(char[] a)
    {
        w = new int[a.length/4];
        for (int i=0;i&lt;a.length/4;i++)
            w[i]=(int)(((a[4*i+3]&0xff) &lt;&lt; 24) + ((a[4*i+2]&0xff) &lt;&lt; 16) +
            ((a[4*i+1]&0xff) &lt;&lt; 8) + (a[4*i+0]&0xff));
    }
}</pre>
<br>




<h3 class=subsectionBar><a name="FloatW" id="FloatW"></a>FloatW (helper class)</h3>
<pre class=lightPurpleBox>
class FloatW
{
    float w;
    public FloatW(float f) { w = f; }
    public void setValue(float i) { w = i; }
    public float getValue() { return w; }
}</pre>
<br>




<h3 class=subsectionBar><a name="FloatWA" id="FloatWA"></a>FloatWA (helper class)</h3>
<pre class=lightPurpleBox>
class FloatWA
{
    float[] w;
    public FloatWA(int i) { w = new float[i]; }
    public void initArray(int i) { w = new float[i]; }
    public float[] getArray() { return w; }
    public int getLength() { return w.length; }
    public float[] getNewArray(int i)
    {
        w = new float[i];
        for (int k = 0; k &lt; i; k++)
            w[k] = 0.0f;
        return w;
    }
    public char[] getCharArrayFromArray()
    {
        char[] a=new char[4*w.length];
        for (int i=0;i&lt;w.length;i++)
        {
            int iw=Float.floatToIntBits(w[i]);
            a[4*i+0]=(char)(iw&0xff);    
            a[4*i+1]=(char)((iw &gt;&gt;&gt; 8)&0xff);
            a[4*i+2]=(char)((iw &gt;&gt;&gt; 16)&0xff);
            a[4*i+3]=(char)((iw &gt;&gt;&gt; 24)&0xff);
        }
        return a;
    }
    public void initArrayFromCharArray(char[] a)
    {
        w = new float[a.length/4];
        for (int i=0;i&lt;a.length/4;i++)
        {
            int iw=(int)(((a[4*i+3]&0xff) &lt;&lt; 24) + ((a[4*i+2]&0xff) &lt;&lt; 16) +
            ((a[4*i+1]&0xff) &lt;&lt; 8) + (a[4*i+0]&0xff));
            w[i]=Float.intBitsToFloat(iw);
        }                
    }
}</pre>
<br>





<h3 class=subsectionBar><a name="FloatWAA" id="FloatWAA"></a>FloatWAA (helper class)</h3>
<pre class=lightPurpleBox>
class FloatWAA
{
    FloatWA[] w;
    public FloatWAA(int i) { w = new FloatWA[i]; }
    public void initArray(int i) { w = new FloatWA[i]; }
    public FloatWA[] getArray() { return w; }
    public int getLength() { return w.length; }
    public FloatWA[] getNewArray(int i)
    {
        w = new FloatWA[i];
        for (int k = 0; k &lt; i; k++)
            w[k] = new FloatWA(1);
        return w;
    }
}</pre>
<br>





<h3 class=subsectionBar><a name="StringW" id="StringW"></a>StringW (helper class)</h3>
<pre class=lightPurpleBox>
class StringW
{
    String w;
    public StringW(String s) { w = new String(s); }
    public void setValue(String s) { w = new String(s); }
    public String getValue() { return w; }
}</pre>
<br>




<h3 class=subsectionBar><a name="StringWA" id="StringWA"></a>StringWA (helper class)</h3>
<pre class=lightPurpleBox>
class StringWA
{
    String[] w;
    public StringWA(int i) { w = new String[i]; }
    public void initArray(int i) { w = new String[i]; }
    public String[] getArray() { return w; }
    public int getLength() { return w.length; }
    public String[] getNewArray(int i)
    {
        w = new String[i];
        return w;
    }
}</pre>
<br>







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